模仿人类采摘果蔬方式，提升机器人抓取多样性能力。
Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation
- 基于人类采摘策略设计柔性多指抓手
- 在工业指标下验证性能，接近人类水平
- 为复杂生鲜物品智能抓取提供通用方案
机器人抓取新鲜果蔬，尤其是多个散放的物品，具有强烈的工业需求，但仍是极具挑战的任务。本文旨在分析人类采摘松散果蔬的独特操作策略，以更好地应用于机器人对多样化物品的抓取。本研究提出首个用于抓取单个或多个新鲜果蔬的机器人系统，配备多指柔顺机械手。从物流行业使用的工业关键绩效指标（KPIs）角度分析人类抓取策略，并用相同KPIs及人类表现作为基准验证机器人系统。该工作为未来生鲜果蔬智能抓取示范平台的开发奠定基础，同时强调了应对任务复杂性所需的通用方法。
原文摘要 · Abstract (English)
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial Key Performance Indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.
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